Flywheel energy storage drive voltage compensation correction method and device, equipment and medium

Abstract

The application provides a flywheel energy storage driver voltage compensation correction method and device, equipment and medium, and belongs to the technical field of flywheel energy storage. The method comprises the following steps: calculating an initial bias power based on a direct current side initial charge-discharge power sequence under an initial delay compensation time, and updating the initial delay compensation time to obtain a first delay compensation time based on the initial bias power; cyclically performing a delay compensation time updating operation until the positive and negative signs of the bias power in the last two times are different, taking the latest obtained delay compensation time as a target delay compensation time, and calculating a space angle value of an output voltage of the flywheel energy storage driver; calculating an amplitude compensation amount of the output voltage based on rotor angular velocity data, compensating the amplitude of the output voltage based on the amplitude compensation amount to obtain a target output voltage amplitude, and determining a target output voltage based on the target output voltage amplitude and the space angle value. The application can realize the balanced output of the charge-discharge power of a low-carrier-ratio high-frequency high-power flywheel energy storage driver.

Description

Technical Field

[0001] This application belongs to the field of flywheel energy storage technology, and more specifically, relates to a method, device, equipment, and medium for voltage compensation and correction of a flywheel energy storage driver. Background Technology

[0002] The flywheel energy storage drive, as the core control unit of the flywheel energy storage system, is used to convert DC-side electrical energy into AC voltage to drive the flywheel motor, or conversely, to achieve energy recovery. Its voltage output accuracy directly determines the system's charging and discharging power control effect. Specifically, the delay compensation time is a compensation parameter set to offset the control delay caused by the timing constraints of the digital controller, while the amplitude compensation amount is an adjustment amount used to correct the back EMF and coupling voltage deviations caused by changes in rotational speed. Both are key parameters for ensuring the accuracy of the voltage output.

[0003] In the process of digital controller controlling flywheel energy storage driver, there is an unavoidable timing delay from motor current and position sampling to the output voltage acting on the armature winding to generate the target current. There are two types of delays: first, PWM update delay, in order to ensure that the power switching device only operates once in a single control cycle, the control voltage needs to be updated at the zero value of the next PWM counter, resulting in a delay in the duration of a single control cycle; second, voltage application delay, the control voltage acting on the winding to generate current needs to last for one cycle, the delay time is less than a single control cycle, and the sum of the two types of delays ranges from 1 to 2 control cycles.

[0004] In existing technologies, the aforementioned delay compensation time is typically set to a fixed average of 1.5Ts. This approach is sufficient for low-frequency, high-carrier-ratio drives due to its minimal error. However, for high-frequency, high-power flywheel energy storage drives, where the carrier ratio is significantly reduced, a fixed 1.5Ts compensation cannot adapt to the delay fluctuations in actual operating conditions. On the one hand, this results in a significant asymmetry in charging and discharging power, with charging power being too high and discharging power too low, failing to achieve a symmetrical distribution around the given power. On the other hand, it causes a substantial decrease in the power control accuracy of the drive, potentially leading to control system instability and hindering the reliable operation of the high-frequency, high-power flywheel energy storage system. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, device, and medium for voltage compensation and correction of a flywheel energy storage driver that can achieve balanced output of charging and discharging power of a low-carrier-ratio, high-frequency, high-power flywheel energy storage driver and improve the power control accuracy of the converter. To achieve the above objective, the technical solution provided by this application is as follows: Firstly, a method for voltage compensation and correction of a flywheel energy storage driver is provided, including: Determine the initial delay compensation time of the output voltage of the flywheel energy storage driver, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, update the initial delay compensation time based on the initial bias power, and obtain the first delay compensation time. Using the first delay compensation time as the initial condition, the delay compensation time update operation is executed cyclically until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power. The delay compensation time obtained from the latest delay compensation time update operation is taken as the target delay compensation time. The spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time is calculated. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1; The amplitude compensation amount of the output voltage is calculated based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor. The output voltage amplitude is compensated based on the amplitude compensation amount to obtain the target output voltage amplitude. The second moment is one control cycle earlier than the first moment. The target output voltage is determined based on the target output voltage amplitude and spatial angle value.

[0006] Secondly, a flywheel energy storage driver voltage compensation and correction device is provided, comprising: The initial delay compensation module is used to determine the initial delay compensation time of the output voltage of the flywheel energy storage driver, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, and update the initial delay compensation time based on the initial bias power to obtain the first delay compensation time. The cyclic delay compensation module is used to perform a cyclic delay compensation time update operation with the first delay compensation time as the initial condition, until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power, and the delay compensation time obtained by the latest delay compensation time update operation is used as the target delay compensation time. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1; The spatial angle value optimization module is used to calculate the spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time; The voltage amplitude compensation module is used to calculate the amplitude compensation amount of the output voltage based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor. The output voltage amplitude is compensated based on the amplitude compensation amount to obtain the target output voltage amplitude. The second moment is one control cycle earlier than the first moment. The output voltage correction module is used to determine the target output voltage based on the target output voltage amplitude and spatial angle value.

[0007] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the flywheel energy storage driver voltage compensation correction method provided in any possible implementation of the first aspect.

[0008] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the flywheel energy storage driver voltage compensation correction method provided by any possible implementation of the first aspect.

[0009] The beneficial effects of the technical solution provided in this application are as follows: The flywheel energy storage driver voltage compensation and correction method, apparatus, device, and medium provided in this application embodiment, compared with related technologies: To address the asymmetry in charging and discharging power caused by existing fixed delay compensation methods, this application proposes a cyclical update approach to the delay compensation time. The method uses the bias power calculated from the charging and discharging power sequence as the criterion, continuing until the sign of the bias power changes, ultimately determining a target delay compensation time suitable for actual operating conditions. This approach ensures that the delay compensation time precisely matches the actual timing delay of the digital controller, resulting in a symmetrical distribution of charging and discharging power around a given power, thus correcting the imbalance where charging power is too high and discharging power is too low.

[0010] To address the issues of voltage deviation and insufficient power control accuracy caused by speed variations, this application's embodiment calculates the amplitude compensation amount based on the rotor angular velocity of two consecutive control cycles. This accurately corrects the back EMF and coupling voltage deviations caused by speed changes, ensuring that the output voltage amplitude always adapts to the motor's operating state. By combining the spatial angle value determined by the target delay compensation time, the final generated target output voltage guarantees both timing accuracy and amplitude stability, thereby improving the driver's power control accuracy.

[0011] In summary, the embodiments of this application combine dynamic delay compensation and amplitude compensation to comprehensively optimize voltage output from both timing and amplitude dimensions. This not only solves the core defects of existing technologies but also eliminates the need for complex hardware modifications, adapting to the actual needs of high-frequency, high-power flywheel energy storage scenarios and providing a reliable guarantee for the stable and accurate operation of the system. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0013] Figure 1 A schematic flowchart illustrating the voltage compensation and correction method for a flywheel energy storage driver provided in an embodiment of this application; Figure 2 A timing diagram of a digital controller provided for an embodiment of this application; Figure 3 The charging and discharging power curves of the conventional technical solution provided in the embodiments of this application with a fixed delay compensation time of 1.5Ts; Figure 4 This is a charge / discharge power curve diagram after applying the flywheel energy storage driver voltage compensation correction method provided in the embodiments of this application; Figure 5 This is a structural block diagram of the flywheel energy storage driver voltage compensation and correction device provided in the embodiments of this application; Figure 6 A schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0015] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.” When describing multiple (two or more) items, if the relationship between the multiple items is not explicitly defined, the multiple items can refer to one, several or all of the multiple items. For example, the description of "parameter A includes A1, A2, A3" can be implemented as parameter A includes A1 or A2 or A3, or it can be implemented as parameter A includes at least two of the three items A1, A2 and A3.

[0016] It is understood that in the embodiments of this application, data such as user information are involved. When the embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with relevant laws, regulations and standards.

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0018] This application provides a method for voltage compensation and correction of a flywheel energy storage driver, which can be executed by an electronic device, such as... Figure 1 As shown, the method may include: S101: Determine the initial delay compensation time of the flywheel energy storage driver's output voltage, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, update the initial delay compensation time based on the initial bias power, and obtain the first delay compensation time.

[0019] In this embodiment, the initial charge / discharge power sequence includes an initial charge power sequence and an initial discharge power sequence; The initial bias power is calculated based on the initial charge and discharge power sequence, including: The average charging power on the DC side is determined based on the initial charging power sequence; The average discharge power on the DC side is determined based on the initial discharge power sequence; The initial bias power is obtained by summing the average charging power and the average discharging power.

[0020] In this embodiment, the initial delay compensation time is updated based on the initial bias power to obtain the first delay compensation time, including: If the initial bias power is greater than 0, the initial delay compensation time is extended based on the first step length to obtain the first delay compensation time. If the initial bias power is less than 0, the initial delay compensation time is shortened based on the second step size to obtain the first delay compensation time. The absolute values ​​of the first step length and the second step length are the same, the first step length is greater than 0, and the second step length is less than 0.

[0021] In this embodiment, the initial delay compensation time refers to the preset initial compensation duration to offset the control delay, for example, 1.5Ts based on industry practice, where Ts is the control period. The initial charge / discharge power sequence refers to the set of multiple charging and discharging powers on the DC side under the initial compensation time, for example, 10 sets of charging power and 10 sets of discharging power. The initial charging power sequence and the initial discharging power sequence refer to the subdivisions of the charge / discharge power sequence, corresponding to the power data sets under charging and discharging conditions, respectively. The average charging power and the average discharging power refer to the arithmetic mean of the corresponding sequences, respectively. The initial bias power is used to quantify the degree of charge / discharge asymmetry. The first delay compensation time refers to the result after updating the initial delay compensation time, for example, when the initial bias power is greater than 0, 1.5Ts + 0.01Ts = 1.51Ts. The first step length and the second step length refer to the adjustment range of the delay compensation time, for example, the first step length is 0.01Ts and the second step length is -0.01Ts.

[0022] This embodiment dynamically optimizes delay compensation by quantifying the asymmetry of charging and discharging power. By separately collecting and averaging the charging and discharging power, it reduces single-sample error and accurately reflects the overall asymmetry trend. The summation of bias power directly quantifies the direction and degree of deviation, providing a clear basis for delay adjustment. This embodiment uses positive and negative step sizes with identical absolute values ​​to avoid over- or under-adjustment, ensuring that the delay compensation time steadily approaches the optimal value within a reasonable range of Ts to 2Ts. This embodiment is tailored to the characteristics of low carrier ratios in high-frequency, high-power scenarios, specifically addressing the problem that a fixed 1.5Ts compensation cannot adapt to actual delay fluctuations, ensuring a simple and accurate adjustment logic.

[0023] For example, such as Figure 2 As shown, Figure 2This is a typical digital control timing diagram, describing the process from sampling the current and position of the flywheel energy storage motor to the output voltage acting on the armature winding of the flywheel energy storage motor to generate the target drive current. Ideally, the time point when the output voltage acts and generates the target drive current is the motor current and position sampling point, i.e., time t in the diagram. Due to the timing constraints of the digital controller, the main components are a PWM update delay time Ts of one control cycle and an output voltage action time with an average action time less than Ts.

[0024] like Figure 3 As shown, Figure 3 When using a fixed 1.5Ts delay compensation time for the traditional technical solution, the charging power of the low carrier ratio high frequency high power flywheel energy storage driver is significantly higher than the set value and the discharging power is significantly lower than the set value when given a power of 330kW. The charging and discharging power are not symmetrically distributed around the given 330kW, and the actual charging and discharging power change curves deviate greatly from the given value range, resulting in low power control accuracy.

[0025] For example, in this embodiment, the initial delay compensation time can be set to 1.5Ts, the target charging and discharging power is given as 330kW, and the flywheel energy storage driver is started to enter the rated operating condition.

[0026] In this embodiment, charging is performed N times at rated power (given power greater than zero). The charging power data is continuously collected N times by a DC-side power sensor to form an initial charging power sequence. , ,…… ), >0, the acquisition process is synchronized with the control cycle Ts to ensure data timing consistency; similarly, in this embodiment, the rated power discharge (given power less than zero) is performed N times, and N discharge power data are collected to form an initial discharge power sequence. , ,…… ), <0, and the value of N must satisfy statistical validity (e.g., 30 times).

[0027] This embodiment can perform an arithmetic average on all data in the initial charging power sequence, remove outliers (such as extreme values ​​exceeding 330kW±5%), and obtain the average charging power; this embodiment processes the initial discharging power sequence in the same way to obtain the average discharging power.

[0028] The average charging power is obtained by taking the arithmetic mean of the charging and discharging sequence data respectively. and average discharge power The expression is:

[0029] In this embodiment, the initial bias power can be calculated by directly summing the average charging power and the average discharging power. If the result is positive, it indicates that the charging power is too high, the discharging power is too low, and the delay compensation time is insufficient; if the result is negative, the opposite is true. The expression is: .

[0030] In this embodiment, the first step length can be preset to 0.01Ts and the second step length to -0.01Ts. If the initial bias power is greater than 0, the initial delay compensation time of 1.5Ts is extended by 0.01Ts to obtain the first delay compensation time of 1.51Ts; if the initial bias power is less than 0, it is shortened by 0.01Ts to obtain 1.49Ts.

[0031] This embodiment effectively solves the problem of power imbalance caused by fixed delay compensation by precisely quantifying the asymmetry of charging and discharging power and dynamically optimizing the delay compensation time, thus ensuring a symmetrical distribution of charging and discharging power around a given power. The balanced step size design ensures smooth and controllable delay adjustment, avoiding system fluctuations caused by over-correction, and adapting to the control requirements of high-frequency, high-power, and low-carrier-ratio scenarios. No new hardware modules are required; the accuracy of delay compensation can be improved solely through power sequence acquisition and algorithm optimization, thereby enhancing the power control precision of the driver, reducing the risk of control system instability, and ensuring the reliable operation of the flywheel energy storage system.

[0032] This embodiment proposes a voltage compensation and correction method for a high-frequency, high-power flywheel energy storage driver. First, the delay time of the output voltage of the high-frequency, high-power flywheel energy storage driver is accurately compensated by designing a compensation method based on DC-side power feedback correction. Then, the amplitude of the output voltage is compensated by designing a compensation algorithm based on the deviation of the current rotor position under the aforementioned delay compensation time.

[0033] S102: Using the first delay compensation time as the initial condition, repeatedly execute the delay compensation time update operation until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power. Then, take the delay compensation time obtained from the latest delay compensation time update operation as the target delay compensation time. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1.

[0034] In this embodiment, the iterative execution of the delay compensation time update operation refers to repeatedly performing a series of steps to adjust the delay compensation time, such as iteratively updating the delay compensation time multiple times until the sign judgment condition is met. The latest obtained bias power refers to the bias power calculated in the last update operation. The previously obtained bias power refers to the bias power calculated in the penultimate update operation. Positive and negative signs refer to the positive and negative attributes of the bias power, for example, 150kW is a positive sign and -120kW is a negative sign. The target delay compensation time refers to the delay compensation time obtained in the last update after the sign judgment condition is met, for example, 1.52Ts. The i-th delay compensation time update operation refers to the i-th round of delay compensation time adjustment steps, for example, the update operation when i=2. The i-th delay compensation time refers to the delay compensation time used in the i-th update, for example, 1.51Ts when i=2. The i-th charge and discharge power sequence refers to the set of charge and discharge power collected in the i-th update, for example, 30 sets of charging power and 30 sets of discharging power when i=2. The i-th bias power refers to the bias power calculated during the i-th update, for example, 150kW when i=2. The (i+1)-th delay compensation time refers to the new delay compensation time obtained after the i-th update, for example, 1.52Ts when i=2.

[0035] In this embodiment, precise calibration of the delay compensation time is achieved through iterative feedback. Fixed compensation cannot adapt to fluctuations in operating conditions, so a cyclical update mode is adopted, using the bias power derived from the charge / discharge power deviation as the feedback basis. Changes in the sign of the bias power indicate that the delay compensation time has crossed the critical point of charge / discharge power balance, at which point the latest delay compensation time is closest to the actual requirement. This embodiment avoids the error of a one-time adjustment by gradually approximating the target delay compensation time, ensuring that the timing delay can accurately offset the timing delay, solving the problem of charge / discharge power asymmetry, and meeting the control requirements of high-frequency, high-power, low-carrier-ratio scenarios.

[0036] For example, in this embodiment, the initial delay compensation time can be set to 1.5Ts, the target charging and discharging power is given as 330kW, the flywheel energy storage driver is started to enter the rated operating condition, and the trigger condition for the cyclic update is that the latest bias power sign is different from the previous one.

[0037] This embodiment can perform the first delay compensation time update operation (i=1): The first delay compensation time is set to 1.5Ts. The first charging power sequence is formed by continuously collecting 30 charging power data from the DC-side power sensor, and the first discharging power sequence is formed by collecting 30 discharging power data. After removing outliers exceeding the target power ±5%, the arithmetic mean is calculated to obtain the average charging power and the average discharging power, and the sum is used to obtain the first bias power. If the first bias power is greater than 0, it is extended in a step size of 0.01Ts to obtain the second delay compensation time of 1.51Ts.

[0038] This embodiment can perform a second delay compensation time update operation (i=2): load the second delay compensation time of 1.51Ts into the driver, acquire the second charge and discharge power sequence according to the same acquisition rules, and calculate the second bias power. If it is still greater than 0, continue to extend it by 0.01Ts to obtain the third delay compensation time of 1.52Ts.

[0039] Repeat the above update operation until the nth update operation (i=n) is performed: load the nth delay compensation time 1.5+(n-1)×0.01Ts, collect the nth charge and discharge power sequence and calculate the nth bias power as -80kW, while the previous (i=n-1)th bias power was 90kW, and the two have different positive and negative signs.

[0040] Stop the cyclic update operation. In this embodiment, the (n+1)th delay compensation time obtained from the latest (i=n) update, 1.5+n×0.01Ts, can be determined as the target delay compensation time for subsequent voltage control.

[0041] This embodiment accurately locks the target delay compensation time to suit actual operating conditions through cyclic updates and bias power sign determination, effectively solving the problem of charge and discharge power asymmetry caused by fixed delay compensation. The iterative approximation method avoids over-adjustment or under-adjustment, ensuring that delay compensation accurately offsets the effects of timing delay, significantly improving the power control accuracy of the high-frequency, high-power flywheel energy storage driver, reducing the risk of control system instability, and adapting to the operating requirements of low carrier ratio scenarios.

[0042] S103: Calculate the spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time.

[0043] In this embodiment, calculating the spatial angle value of the flywheel energy storage driver's output voltage at the target delay compensation time includes: Obtain the rotor position and first rotor angular velocity of the flywheel motor at the first instant; Based on the target delay compensation time, the rotor position at the first moment, and the first rotor angular velocity, the spatial angle value of the output voltage of the flywheel energy storage driver is calculated using the spatial angle correction formula. The formula for spatial angle correction is:

[0044] in, The spatial angle value of the output voltage. The rotor position at the first moment. The first rotor angular velocity, To control the cycle, for The target delay compensation time, for The target delay compensation time, For the current bias power, This is the initial delay compensation time. is the absolute value of the first step length and the second step length, and m is the number of times the delay compensation time update operation is executed.

[0045] In this embodiment, "first moment" refers to a specific time point at which the first rotor angular velocity is acquired, such as time t. The spatial angle correction formula is a dedicated formula used to calculate the spatial angle of the compensated output voltage, adaptable to different bias power sign scenarios. The spatial angle value of the output voltage refers to the voltage angle parameter adapted to the motor rotor state after correction. The rotor position at the first moment refers to the angle of the rotor magnetic poles acquired at the first moment. The current bias power refers to the bias power calculated by the current delay compensation time update operation. The execution count m of the delay compensation time update operation refers to the number of iterations of the delay compensation time update.

[0046] The core objective of this embodiment is to adapt the voltage space angle to the delay compensation and the real-time rotation state of the motor. The target delay compensation time has already offset the timing delay. Combined with the rotor position at the first moment, the reference angle can be locked. Combined with the first rotor angular velocity, the dynamic rotation trend of the rotor can be reflected. The combination of these three can accurately correct the voltage application angle. The design formula for positive and negative bias power is because different bias powers correspond to different adjustment directions of the delay compensation time. It needs to be adapted specifically to avoid the voltage application timing and rotor position misalignment caused by angle deviation, ensuring balanced power output and meeting the control requirements of high-frequency, high-power, low-carrier-ratio scenarios.

[0047] For example, after the target delay compensation time is determined, the spatial angle calculation process is started to ensure that the digital controller, encoder and speed sensor are synchronized in time, and the rotor position and the first rotor angular velocity at the first moment are collected.

[0048] This embodiment can filter the acquired rotor position signal to remove outliers caused by electromagnetic interference, ensuring accurate angle data; it can also smooth the first rotor angular velocity data to eliminate the influence of instantaneous fluctuations. This embodiment can retrieve the sign of the current bias power, the number of times the delay compensation time update operation is executed (m), and the control period (Ts) recorded during previous cyclic updates, ensuring parameter integrity.

[0049] If the current bias power is greater than 0, select “1.5Ts+0.01×(m+1)×Ts” as the target delay compensation time term according to the formula, substitute the rotor position and the first rotor angular velocity at the first moment, and calculate the spatial angle value of the output voltage.

[0050] If the current bias power is less than 0, select "1.5Ts". 0.01×(m+1)×Ts” is used as the target delay compensation time term. Similarly, the collected and processed rotor position and angular velocity data are substituted to complete the calculation of the spatial angle value.

[0051] This embodiment can store the calculated spatial angle value to the voltage synthesis module and synchronously record the parameters (rotor position, angular velocity, m value) during the calculation process, providing a benchmark for subsequent periodic updates and ensuring that each angle calculation is based on real-time operating conditions and historical update data.

[0052] This embodiment accurately calculates the angle value using a spatial angle correction formula, and effectively compensates for angle deviations caused by timing delays by combining the target delay compensation time, real-time rotor position, and angular velocity. It also adapts the bias power to positive and negative values ​​for different compensation scenarios, ensuring real-time matching between the voltage spatial angle and the motor rotation state, thus avoiding charging and discharging power imbalances caused by angle misalignment. This significantly improves the angle accuracy of the output voltage, ensuring balanced power output, further optimizing power control accuracy in high-frequency, high-power scenarios, and reducing the risk of control system instability.

[0053] S104: Calculate the amplitude compensation amount of the output voltage based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor. Compensate the output voltage amplitude based on the amplitude compensation amount to obtain the target output voltage amplitude. The second moment is one control cycle earlier than the first moment.

[0054] In this embodiment, the amplitude compensation amount of the output voltage is calculated based on the first rotor angular velocity at a first moment and the second rotor angular velocity at a second moment of the flywheel motor, including: Based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor, the amplitude compensation amount of the output voltage is obtained through the output voltage amplitude compensation formula. The formula for output voltage amplitude compensation is:

[0055]

[0056] in,( , ) represents the amplitude compensation amount. This is the amplitude compensation amount for the d-axis. This is the amplitude compensation amount on the q-axis. The first rotor angular velocity, The second rotor angular velocity, Let be the inductance value along the direct axis in the dq rotating coordinate system. Let be the current value along the direct axis in the dq rotating coordinate system. Let be the inductance value in the direction of the quadrature axis in the dq rotating coordinate system. This represents the current value in the quadrature axis direction. This represents the magnetic quantity of a permanent magnet.

[0057] In this embodiment, the target output voltage amplitude is obtained by compensating the output voltage amplitude based on the amplitude compensation amount, including: Based on the amplitude compensation amount, the output voltage amplitude is compensated using the voltage amplitude compensation formula to obtain the target output voltage amplitude; The voltage amplitude compensation formula is:

[0058]

[0059] in,( () represents the target output voltage amplitude. The target output voltage amplitude on the d-axis. The target output voltage amplitude on the q-axis, ( , The output voltage is obtained from the current closed-loop calculation at the first moment. The output voltage on the d-axis is obtained from the current closed-loop calculation at the first moment. The output voltage of the q-axis is obtained from the current closed-loop calculation at the first moment.

[0060] In this embodiment, the inductance value along the direct axis in the dq rotating coordinate system represents an inherent parameter of the inductance characteristics of the direct-axis winding in this coordinate system, such as a motor design value of 5mH. The inductance value along the quadrature axis in the dq rotating coordinate system represents an inherent parameter of the inductance characteristics of the quadrature-axis winding in this coordinate system, such as a motor design value of 3mH. The current value along the direct axis in the dq rotating coordinate system refers to the real-time current acquisition value of the direct-axis winding. The current value along the quadrature axis in the dq rotating coordinate system refers to the real-time current acquisition value of the quadrature-axis winding. The magnetic flux density of the permanent magnet refers to the magnetic performance parameter of the permanent magnet itself, such as a motor design fixed value of 0.1Wb. The d-axis component of the target output voltage amplitude refers to the final d-axis voltage after superimposing the d-axis amplitude compensation amount. The q-axis component of the target output voltage amplitude refers to the final q-axis voltage after superimposing the q-axis amplitude compensation amount.

[0061] Considering that the back EMF and coupling voltage deviations caused by speed changes originate from different sources on the d and q axes, targeted compensation is required. The d-axis deviation is related to the quadrature-axis inductance and current, while the q-axis deviation also involves the permanent magnet's magnetic flux. Calculating these separately allows for precise cancellation of the unique deviations of each axis. This embodiment, based on the angular velocity of two consecutive control cycles, can capture the speed change trend in real time and, combined with the motor's inherent parameters, ensures that the compensation amount closely matches the electromagnetic characteristics. This embodiment avoids the limitations of single-dimensional compensation, solves the problem that fixed amplitude control cannot handle dynamic deviations, and is suitable for high-frequency, high-power, low-carrier-ratio operating conditions where speed fluctuations are prone to occur, ensuring the accuracy of voltage output.

[0062] For example, in this embodiment, the inherent parameters of the flywheel motor can be obtained in advance, including the inductance value in the direct axis direction, the inductance value in the quadrature axis direction, and the magnetic quantity of the permanent magnet in the dq rotating coordinate system, and the parameters can be stored in the digital controller for later use.

[0063] In this embodiment, the control cycle Ts of the digital controller can be set, and the first rotor angular velocity at the first moment and the second rotor angular velocity one control cycle earlier can be collected in sequence. At the same time, the current value in the direct axis direction and the current value in the quadrature axis direction in the dq rotating coordinate system can be collected through the current sensor. The collected data can be filtered and preprocessed to remove interference.

[0064] In this embodiment, the pre-processed angular velocity, current value, and preset inherent parameters can be substituted into the output voltage amplitude compensation formula to calculate the d-axis amplitude compensation amount. and q-axis amplitude compensation This is the amplitude compensation amount, which quantifies the compensation requirements corresponding to the two types of deviations caused by changes in rotational speed. This embodiment can retrieve the d-axis component of the initial output voltage obtained through current closed-loop calculation at the first moment. and q-axis components Ensure that the initial voltage value is the base control voltage under the current operating conditions.

[0065] This embodiment can be implemented according to the voltage amplitude compensation formula, and Superimposed, and By superimposing these components, the d-axis components of the target output voltage amplitude can be obtained. and q-axis components This embodiment can include the d-axis component. and q-axis components The voltage is transmitted to the subsequent voltage synthesis module, where it is combined with the previously determined spatial angle value to generate the target output voltage through PARK inverse transformation, driving the motor to run. Simultaneously, the rotor angular velocity at the first moment is stored as the second rotor angular velocity for the next control cycle, forming a cyclic compensation mechanism.

[0066] This embodiment precisely calculates the amplitude compensation amount along the dq axis to specifically offset the back EMF and coupling voltage deviations caused by speed changes, avoiding the one-sidedness of single-dimensional compensation. The compensation process combines the inherent parameters of the motor with real-time operating data to ensure that the compensation amount dynamically adapts to changes in operating conditions. This embodiment improves the accuracy and stability of the output voltage amplitude, optimizes power control precision in high-frequency, high-power scenarios, reduces control system fluctuations, requires no additional hardware, adapts to low carrier ratio operation requirements, and effectively ensures the reliable operation of the flywheel energy storage drive.

[0067] S105: Determine the target output voltage based on the target output voltage amplitude and spatial angle value.

[0068] In this embodiment, determining the target output voltage based on the target output voltage amplitude and spatial angle value includes: The target output voltage is determined using the PARK inverse transform formula based on the target output voltage amplitude and spatial angle value. The inverse PARK transform formula is:

[0069]

[0070] in,( , () is the target output voltage.

[0071] In this embodiment, the PARK inverse transform formula refers to a dedicated formula for converting dq-axis voltage to αβ-axis voltage, and is a standard tool for voltage coordinate transformation in motor control. The α-axis output voltage refers to one of the orthogonal components of the target output voltage. The β-axis output voltage refers to the other orthogonal component of the target output voltage, which is perpendicular to the α-axis.

[0072] The dq-axis voltage is a theoretically calculated control quantity and cannot directly drive power switching devices. The PARK inverse transform can convert it into the αβ-axis voltage required for actual driving, precisely integrating the optimized characteristics of the target output voltage amplitude and spatial angle. This embodiment avoids voltage failure caused by coordinate transformation deviations, adapts to the driving requirements of power devices in high-frequency, high-power scenarios, and ensures the implementation of voltage control logic.

[0073] For example, this embodiment can retrieve the d-axis and q-axis components of the target output voltage amplitude, as well as the space angle value after delay compensation calibration, to ensure that all parameters are synchronized and without anomalies. This embodiment can substitute the above parameters into a preset PARK inverse transform formula, and the controller's built-in arithmetic unit can perform calculations to obtain the initial values ​​of the α-axis and β-axis output voltages, respectively. This embodiment can perform a safety check on the initial values ​​to determine whether they are within the rated voltage range of the power switching device. If they exceed this range, a threshold correction is applied to prevent device damage. After successful verification, this embodiment can convert the α-axis and β-axis output voltages into PWM drive signals, with the signal frequency matched to the control period Ts, and output them to the power switching device to drive the motor to generate the target charging and discharging power.

[0074] This embodiment precisely converts the dq-axis voltage to the αβ-axis using the PARK inverse transform, fully preserving the amplitude accuracy and spatial angle characteristics of the target output voltage. The conversion process adapts to the driving requirements of power devices, avoiding power fluctuations caused by conversion deviations and significantly improving the accuracy of voltage output in high-frequency, high-power scenarios. It effectively ensures balanced charging and discharging power, enhances the power control accuracy of the driver, reduces the risk of system instability, and adapts to low carrier ratio operating conditions.

[0075] For example, this embodiment achieves balanced output of charging and discharging power of low carrier ratio high frequency high power flywheel energy storage driver, which significantly improves the power control accuracy of converter and enhances the operating stability of converter. Figure 4 This is a charge / discharge power curve diagram after applying the flywheel energy storage driver voltage compensation correction method provided in the embodiments of this application. Using the method of this application, under the same given charge / discharge power of 330kW, as shown... Figure 4 As shown, compared with traditional technical solutions, the actual charging and discharging power is symmetrical and the fluctuation range is significantly reduced, which improves the power control accuracy and the stability of the control system operation.

[0076] Based on the same principle as the flywheel energy storage driver voltage compensation and correction method provided in the embodiments of this application, the embodiments of this application also provide a flywheel energy storage driver voltage compensation and correction device, such as... Figure 5 As shown, the flywheel energy storage driver voltage compensation and correction device 20 may specifically include: an initial delay compensation module 21, a cyclic delay compensation module 22, a spatial angle value optimization module 23, a voltage amplitude compensation module 24, and an output voltage correction module 25. The initial delay compensation module 21 is used to determine the initial delay compensation time of the output voltage of the flywheel energy storage driver, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, and update the initial delay compensation time based on the initial bias power to obtain the first delay compensation time. The cyclic delay compensation module 22 is used to perform a cyclic delay compensation time update operation with the first delay compensation time as the initial condition, until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power, and the delay compensation time obtained by the latest delay compensation time update operation is used as the target delay compensation time. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1; The spatial angle value optimization module 23 is used to calculate the spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time. The voltage amplitude compensation module 24 is used to calculate the amplitude compensation amount of the output voltage based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor, and to compensate the output voltage amplitude based on the amplitude compensation amount to obtain the target output voltage amplitude; the second moment is one control cycle earlier than the first moment. The output voltage correction module 25 is used to determine the target output voltage based on the target output voltage amplitude and the spatial angle value.

[0077] In one embodiment of this application, the initial charge / discharge power sequence includes an initial charge power sequence and an initial discharge power sequence; the initial delay compensation module 21 is specifically used for: The average charging power on the DC side is determined based on the initial charging power sequence; The average discharge power on the DC side is determined based on the initial discharge power sequence; The initial bias power is obtained by summing the average charging power and the average discharging power.

[0078] In one embodiment of this application, the initial delay compensation module 21 is further configured to: If the initial bias power is greater than 0, the initial delay compensation time is extended based on the first step length to obtain the first delay compensation time. If the initial bias power is less than 0, the initial delay compensation time is shortened based on the second step size to obtain the first delay compensation time. The absolute values ​​of the first step length and the second step length are the same, the first step length is greater than 0, and the second step length is less than 0.

[0079] In one embodiment of this application, the spatial angle value optimization module 23 is specifically used for: Obtain the rotor position and first rotor angular velocity of the flywheel motor at the first instant; Based on the target delay compensation time, the rotor position at the first moment, and the first rotor angular velocity, the spatial angle value of the output voltage of the flywheel energy storage driver is calculated using the spatial angle correction formula. The formula for spatial angle correction is:

[0080] in, The spatial angle value of the output voltage. The rotor position at the first moment. The first rotor angular velocity, To control the cycle, for The target delay compensation time, for The target delay compensation time, For the current bias power, This is the initial delay compensation time. is the absolute value of the first step length and the second step length, and m is the number of times the delay compensation time update operation is executed.

[0081] In one embodiment of this application, the voltage amplitude compensation module 24 is specifically used for: Based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor, the amplitude compensation amount of the output voltage is obtained through the output voltage amplitude compensation formula. The formula for output voltage amplitude compensation is:

[0082]

[0083] in,( , ) represents the amplitude compensation amount. This is the amplitude compensation amount for the d-axis. This is the amplitude compensation amount on the q-axis. The first rotor angular velocity, The second rotor angular velocity, Let be the inductance value along the direct axis in the dq rotating coordinate system. Let be the current value along the direct axis in the dq rotating coordinate system. Let be the inductance value in the direction of the quadrature axis in the dq rotating coordinate system. This represents the current value in the quadrature axis direction. This represents the magnetic quantity of a permanent magnet.

[0084] In one embodiment of this application, the voltage amplitude compensation module 24 is further configured to: compensate the output voltage amplitude based on the amplitude compensation amount using a voltage amplitude compensation formula to obtain a target output voltage amplitude; the voltage amplitude compensation formula is:

[0085]

[0086] in,( () represents the target output voltage amplitude. The target output voltage amplitude on the d-axis. The target output voltage amplitude on the q-axis, ( , The output voltage is obtained from the current closed-loop calculation at the first moment. The output voltage on the d-axis is obtained from the current closed-loop calculation at the first moment. The output voltage of the q-axis is obtained from the current closed-loop calculation at the first moment.

[0087] In one embodiment of this application, the output voltage correction module 25 is specifically used to: determine the target output voltage based on the target output voltage amplitude and spatial angle value using the PARK inverse transform formula; the PARK inverse transform formula is:

[0088]

[0089] in,( , () is the target output voltage.

[0090] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0091] Figure 6 A schematic diagram of the structure of an electronic device to which this application embodiment applies is shown, such as... Figure 6 As shown, the electronic device can be used to implement the methods provided in any embodiment of this application.

[0092] like Figure 6 As shown, the electronic device 300 may primarily include at least one processor 301. Figure 6 The diagram shows components such as a memory 302, a communication module 303, and an input / output interface 304. Optionally, these components can be connected and communicate with each other via a bus 305. It should be noted that... Figure 6 The structure of the electronic device 300 shown is merely illustrative and does not constitute a limitation on the electronic devices to which the methods provided in the embodiments of this application are applicable.

[0093] The memory 302 can be used to store operating systems and applications, etc. The applications can include computer programs that implement the methods shown in the embodiments of this application when invoked by the processor 301, and can also include programs for implementing other functions or services. The memory 302 can be ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices that can store information and computer programs, or it can be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0094] Processor 301 is connected to memory 302 via bus 305 and implements corresponding functions by calling the application programs stored in memory 302. Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0095] Electronic device 300 can connect to a network via communication module 303 (which may include, but is not limited to, components such as a network interface) to communicate with other devices (such as user terminals or servers) through the network and achieve data interaction, such as sending data to or receiving data from other devices. Communication module 303 may include wired network interfaces and / or wireless network interfaces, meaning the communication module may include at least one of wired or wireless communication modules.

[0096] The electronic device 300 can connect to necessary input / output devices, such as a keyboard and display device, via the input / output interface 304. The electronic device 300 itself may have a display device, and other display devices can also be connected externally via the interface 304. Optionally, a storage device, such as a hard drive, can also be connected via the interface 304 to store data from the electronic device 300, read data from the storage device, or store data from the storage device in the memory 302. It is understood that the input / output interface 304 can be a wired interface or a wireless interface. Depending on the actual application scenario, the device connected to the input / output interface 304 can be a component of the electronic device 300 or an external device connected to the electronic device 300 when needed.

[0097] The bus 305 used to connect the components may include a path for transmitting information between the components. The bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Depending on its function, the bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0098] Optionally, for the solution provided in the embodiments of this application, the memory 302 can be used to store a computer program that executes the solution of this application, and the processor 301 runs the computer program. When the processor 301 runs the computer program, it implements the operation of the method or apparatus provided in the embodiments of this application.

[0099] Based on the same principle as the method provided in the embodiments of this application, the embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0100] It should be noted that the terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0101] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0102] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0103] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A method for voltage compensation and correction of a flywheel energy storage driver, characterized in that, include: Determine the initial delay compensation time of the output voltage of the flywheel energy storage driver, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, update the initial delay compensation time based on the initial bias power, and obtain the first delay compensation time. Using the first delay compensation time as the initial condition, the delay compensation time update operation is executed repeatedly until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power. The delay compensation time obtained from the latest delay compensation time update operation is then used as the target delay compensation time. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1; Calculate the spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time; The amplitude compensation amount of the output voltage is calculated based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor. The output voltage amplitude is compensated based on the amplitude compensation amount to obtain the target output voltage amplitude. The second moment is one control cycle earlier than the first moment. The target output voltage is determined based on the target output voltage amplitude and the spatial angle value.

2. The flywheel energy storage driver voltage compensation and correction method as described in claim 1, characterized in that, The initial charge / discharge power sequence includes an initial charge power sequence and an initial discharge power sequence; The calculation of the initial bias power based on the initial charge-discharge power sequence includes: The average charging power on the DC side is determined based on the initial charging power sequence; The average discharge power on the DC side is determined based on the initial discharge power sequence; The initial bias power is obtained by summing the average charging power and the average discharging power.

3. The flywheel energy storage driver voltage compensation and correction method as described in claim 1, characterized in that, The step of updating the initial delay compensation time based on the initial bias power to obtain the first delay compensation time includes: If the initial bias power is greater than 0, the initial delay compensation time is extended based on the first step length to obtain the first delay compensation time; If the initial bias power is less than 0, the initial delay compensation time is shortened based on the second step size to obtain the first delay compensation time. The absolute values ​​of the first step length and the second step length are the same, the first step length is greater than 0, and the second step length is less than 0.

4. The flywheel energy storage driver voltage compensation and correction method as described in claim 1, characterized in that, The calculation of the spatial angle value of the output voltage of the flywheel energy storage driver at the target delay compensation time includes: Obtain the rotor position and first rotor angular velocity of the flywheel motor at the first instant; Based on the target delay compensation time, the rotor position at the first moment, and the first rotor angular velocity, the spatial angle value of the flywheel energy storage driver's output voltage is calculated using the spatial angle correction formula. The spatial angle correction formula is as follows: in, The spatial angle value of the output voltage. The rotor position at the first moment. The first rotor angular velocity, To control the cycle, for The target delay compensation time, for The target delay compensation time, For the current bias power, This is the initial delay compensation time. is the absolute value of the first step length and the second step length, and m is the number of times the delay compensation time update operation is executed.

5. The flywheel energy storage driver voltage compensation and correction method as described in claim 4, characterized in that, The amplitude compensation amount for calculating the output voltage based on the first rotor angular velocity at a first moment and the second rotor angular velocity at a second moment of the flywheel motor includes: Based on the first rotor angular velocity at the first moment and the second rotor angular velocity at the second moment of the flywheel motor, the amplitude compensation amount of the output voltage is obtained through the output voltage amplitude compensation formula. The formula for output voltage amplitude compensation is as follows: in,( , ) represents the amplitude compensation amount. This is the amplitude compensation amount for the d-axis. This is the amplitude compensation amount on the q-axis. The first rotor angular velocity, The second rotor angular velocity, Let be the inductance value along the direct axis in the dq rotating coordinate system. Let be the current value along the direct axis in the dq rotating coordinate system. Let be the inductance value in the direction of the quadrature axis in the dq rotating coordinate system. This represents the current value in the quadrature axis direction. This represents the magnetic quantity of a permanent magnet.

6. The flywheel energy storage driver voltage compensation and correction method as described in claim 5, characterized in that, The step of compensating the output voltage amplitude based on the amplitude compensation amount to obtain the target output voltage amplitude includes: Based on the amplitude compensation amount, the output voltage amplitude is compensated using the voltage amplitude compensation formula to obtain the target output voltage amplitude; The voltage amplitude compensation formula is as follows: in,( () represents the target output voltage amplitude. The target output voltage amplitude on the d-axis. The target output voltage amplitude on the q-axis, ( , The output voltage is obtained from the current closed-loop calculation at the first moment. The output voltage on the d-axis is obtained from the current closed-loop calculation at the first moment. The output voltage of the q-axis is obtained from the current closed-loop calculation at the first moment.

7. The flywheel energy storage driver voltage compensation and correction method as described in claim 6, characterized in that, Determining the target output voltage based on the target output voltage amplitude and the spatial angle value includes: Based on the target output voltage amplitude and the spatial angle value, the target output voltage is determined using the PARK inverse transform formula; The inverse PARK transform formula is: in,( , () is the target output voltage.

8. A voltage compensation and correction device for a flywheel energy storage driver, characterized in that, include: An initial delay compensation module is used to determine the initial delay compensation time of the output voltage of the flywheel energy storage driver, obtain the initial charge and discharge power sequence on the DC side under the initial delay compensation time, calculate the initial bias power based on the initial charge and discharge power sequence, and update the initial delay compensation time based on the initial bias power to obtain the first delay compensation time. The cyclic delay compensation module is used to perform a cyclic delay compensation time update operation with the first delay compensation time as the initial condition, until the sign of the latest obtained bias power is different from the sign of the previous obtained bias power, and the delay compensation time obtained by the latest delay compensation time update operation is used as the target delay compensation time. The i-th delay compensation time update operation includes: obtaining the i-th charge / discharge power sequence on the DC side under the i-th delay compensation time; calculating the i-th bias power based on the i-th charge / discharge power sequence; and updating the i-th delay compensation time based on the i-th bias power to obtain the (i+1)-th delay compensation time. 1; The spatial angle value optimization module is used to calculate the spatial angle value of the output voltage of the flywheel energy storage driver under the target delay compensation time; The voltage amplitude compensation module is used to calculate the amplitude compensation amount of the output voltage based on the first rotor angular velocity at a first moment and the second rotor angular velocity at a second moment of the flywheel motor, and to compensate the output voltage amplitude based on the amplitude compensation amount to obtain the target output voltage amplitude; the second moment is one control cycle earlier than the first moment; An output voltage correction module is used to determine the target output voltage based on the target output voltage amplitude and the spatial angle value.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the flywheel energy storage driver voltage compensation correction method according to any one of claims 1 to 7 when running the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the flywheel energy storage driver voltage compensation correction method according to any one of claims 1 to 7.

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